From 852302b97baf8a4ce0e6cfc5473db51d74232cfe Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Thu, 15 Aug 2024 16:36:44 -0700 Subject: [PATCH] Update accel_controller.py --- selfdrive/controls/lib/sunnypilot/accel_controller.py | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index c8dca6b764..d25e557395 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -29,20 +29,17 @@ from openpilot.common.numpy_fast import interp AccelPersonality = custom.AccelerationPersonality # accel personality by @arne182 modified by cgw and kumar -_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.101, -0.101, -0.43, -0.43, -1.0, -1.0, -0.75] +_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.101, -0.101, -0.43, -0.43, -1.0, -1.0, -0.75] _DP_CRUISE_MIN_V_ECO = [-0.030, -0.030, -0.100, -0.100, -0.40, -0.40, -1.0, -1.0, -0.65] _DP_CRUISE_MIN_V_SPORT = [-0.032, -0.032, -0.102, -0.102, -0.45, -0.45, -1.0, -1.0, -0.85] _DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 10., 10.01, 15., 15.01, 30., 30.01] -#_DP_CRUISE_MIN_V = [-0.05, -0.05, -0.088, -0.088, -0.25, -0.25, -0.39, -0.39, -0.75] -#_DP_CRUISE_MIN_V_ECO = [-0.04, -0.04, -0.087, -0.087, -0.24, -0.24, -0.38, -0.38, -0.65] -#_DP_CRUISE_MIN_V_SPORT = [-0.06, -0.06, -0.089, -0.089, -0.26, -0.26, -0.40, -0.40, -0.85] -#_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 11.1, 11.11, 20., 20.01, 30., 30.01] -_DP_CRUISE_MAX_V = [2.0, 2.0, 1.9, 1.60, 1.11, .75, .55, .42, .2] +_DP_CRUISE_MAX_V = [2.0, 2.0, 1.9, 1.60, 1.11, .73, .55, .38, .16] _DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 1.8, 1.35, 0.86, .53, .42, .31, .085] -_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.34, .96, .78, .60, .4] +_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.40, .90, .70, .50, .30] _DP_CRUISE_MAX_BP = [0., 4., 6., 8., 11., 20., 25., 30., 55.] + class AccelController: def __init__(self): self._personality = AccelPersonality.stock